Accrued Liabilities - Schedule of Accrued Liabilities (Detail) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Accrued Liabilities, Current [Abstract]
Accrued bonus	$ 5,463	$ 1,465
Accrued clinical	2,399	2,507
Accrued professional fees	1,814	1,948
Advanced customer payments	1,571	0
Accrued salaries and payroll	1,299	152
Accrued contract manufacturing	405	2,287
Accrued other - sales related	1,435	0
Accrued other	536	344
Total accrued liabilities	$ 14,922	$ 8,703